Anti-slip brake regulating system with wheel speed sensor system for vehicle wheels

摘要

The regulating system has a wheel speed sensor system (2a-2d) for detecting rotation of the wheels based on wheel speeds. A braking power compensating system compares the braking power with each respective wheels, in response to braking. An ECU computes the control variables for the compensation system based on wheel speeds then, if the brakes are applied, the ECU individually computes the wheel retardations (Gwa-Gwd) using a computing system (31) in correspondence with the locking tendencies of the wheels. A wheel base speed computing system (32) computes the wheel speeds (Vr1,Vr2) on the respective speeds of the respective groups of wheel speeds. A road surface friction factor reception unit accepts friction factors on the basis of the timed alteration of the vehicle base speed with braking exerted. A threshold adjusting system (34) variably sets the threshold values (a1,a2) of the wheel retardations corresponding with the road frictional factors. A control variable computing system (40), computes the control variables based on comparison results of the wheel retardations with the threshold values.